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<a href="sync_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: sync.c,v ec403cf308eb 2013/02/12 14:46:43 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="slave_8h.html">slave.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="master_8h.html">master.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="pdo_8h.html">pdo.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sync_8h.html">sync.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="sync_8h.html#a29f4dd145455097fef860bdd3c5a8de9">   46</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8c.html#ae554464367e3ca0d6c2c402ee52461de">ec_sync_init</a>(</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync, </div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <a class="code" href="structec__slave.html">ec_slave_t</a> *slave </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        )</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    sync-&gt;<a class="code" href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">slave</a> = slave;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    sync-&gt;<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a> = 0x0000;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    sync-&gt;<a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a> = 0x0000;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    sync-&gt;<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a> = 0x00;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    sync-&gt;<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> = 0x00;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="pdo__list_8c.html#ac6f343a6f07a1f817fc0c8820fbd5314">ec_pdo_list_init</a>(&amp;sync-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="sync_8h.html#a31f2b633260698acdce16b652d72809b">   63</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8c.html#a05bfac9d6981a210919a1bed7aa10090">ec_sync_init_copy</a>(</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync, </div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *other </div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        )</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;   sync-&gt;<a class="code" href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">slave</a> = other-&gt;<a class="code" href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">slave</a>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;   sync-&gt;<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a> = other-&gt;<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;   sync-&gt;<a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a> = other-&gt;<a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;   sync-&gt;<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a> = other-&gt;<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a>;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;   sync-&gt;<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> = other-&gt;<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;   <a class="code" href="pdo__list_8c.html#ac6f343a6f07a1f817fc0c8820fbd5314">ec_pdo_list_init</a>(&amp;sync-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;   <a class="code" href="pdo__list_8c.html#accc8112633a4b76efe8df355d1ad0ec8">ec_pdo_list_copy</a>(&amp;sync-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>, &amp;other-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="sync_8h.html#af97d18e6309cc3ea675995287713f8f0">   81</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8c.html#ad78623bc3b479121c5fa77acacd0c823">ec_sync_clear</a>(</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync </div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        )</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;{</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="pdo__list_8c.html#a30f05a34cf44b4d4f5bd47db39addb95">ec_pdo_list_clear</a>(&amp;sync-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="sync_8h.html#a8d1b5ce1731d355b658857f7696edba5">   94</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a>(</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync, </div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        uint8_t sync_index, </div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        uint16_t data_size, </div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__sync__config__t.html">ec_sync_config_t</a> *sync_config, </div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        uint8_t pdo_xfer, </div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        uint8_t *data </div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        )</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;{</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">// enable only if (SII enable is set or PDO xfer)</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">// and size is &gt; 0 and SM is not virtual</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    uint16_t enable = ((sync-&gt;<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> &amp; 0x01) || pdo_xfer)</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                        &amp;&amp; data_size</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                        &amp;&amp; ((sync-&gt;<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> &amp; 0x04) == 0);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    uint8_t control = sync-&gt;<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; 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               <a class="code" href="group__ApplicationInterface.html#gad34ea4baad01f48e2fe114624c994ae2">EC_WRITE_BIT</a>(&amp;control, 2,</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                        sync_config-&gt;<a class="code" href="structec__sync__config__t.html#a24246e2777a46c8aa69dcfbe6a32e4c7">dir</a> == <a class="code" href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1aebf26f1d5c09cf002af5b09d9cb59b78">EC_DIR_OUTPUT</a> ? 1 : 0);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                <a class="code" href="group__ApplicationInterface.html#gad34ea4baad01f48e2fe114624c994ae2">EC_WRITE_BIT</a>(&amp;control, 3, 0);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="keywordflow">default</span>:</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        }</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">switch</span> (sync_config-&gt;<a class="code" href="structec__sync__config__t.html#a83c2bcdf7c5a9e6541b5f47c13a4d46d">watchdog_mode</a>) {</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keywordflow">case</span> <a class="code" href="group__ApplicationInterface.html#ggaa31bcc2beed6a1f62ec495337c239177aee16c13a5ec3c6105a41a1d4c562e82d">EC_WD_ENABLE</a>:</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="keywordflow">case</span> <a class="code" href="group__ApplicationInterface.html#ggaa31bcc2beed6a1f62ec495337c239177adfee5b587c2fac3791f4b13ccd64645a">EC_WD_DISABLE</a>:</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                <a class="code" href="group__ApplicationInterface.html#gad34ea4baad01f48e2fe114624c994ae2">EC_WRITE_BIT</a>(&amp;control, 6,</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                        sync_config-&gt;<a class="code" href="structec__sync__config__t.html#a83c2bcdf7c5a9e6541b5f47c13a4d46d">watchdog_mode</a> == <a class="code" href="group__ApplicationInterface.html#ggaa31bcc2beed6a1f62ec495337c239177aee16c13a5ec3c6105a41a1d4c562e82d">EC_WD_ENABLE</a>);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            <span class="keywordflow">default</span>:</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    }</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(sync-&gt;<a class="code" href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">slave</a>, 1, <span class="stringliteral">&quot;SM%u: Addr 0x%04X, Size %3u,&quot;</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            <span class="stringliteral">&quot; Ctrl 0x%02X, En %u\n&quot;</span>,</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            sync_index, sync-&gt;<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a>,</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            data_size, control, enable);</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(data,     sync-&gt;<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a>);</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(data + 2, data_size);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <a class="code" href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a> (data + 4, control);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <a class="code" href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a> (data + 5, 0x00); <span class="comment">// status byte (read only)</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(data + 6, enable);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="sync_8h.html#a816771d389f3c39e39cfb4cf35d415fb">  153</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="sync_8c.html#a5cf8d891a77f09cc5dbb820b08bca55c">ec_sync_add_pdo</a>(</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync, </div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__pdo__t.html">ec_pdo_t</a> *pdo </div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        )</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;{</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="pdo__list_8c.html#a1e0dfffa35df484b25834003b447e888">ec_pdo_list_add_pdo_copy</a>(&amp;sync-&gt;<a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>, pdo);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;}</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="sync_8h.html#acb0bd9718b40240f920103463bd36ed1">  167</a></span>&#160;<a class="code" href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a> <a class="code" href="sync_8c.html#af820aa0417e581742c1ac9b65231c9da">ec_sync_default_direction</a>(</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync </div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        )</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;{</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">switch</span> ((sync-&gt;<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a> &amp; 0x0C) &gt;&gt; 2) {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordflow">case</span> 0x0: <span class="keywordflow">return</span> <a class="code" href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1a6b3c6b53010076d846724fec434512e4">EC_DIR_INPUT</a>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">case</span> 0x1: <span class="keywordflow">return</span> <a class="code" href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1aebf26f1d5c09cf002af5b09d9cb59b78">EC_DIR_OUTPUT</a>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordflow">default</span>: <span class="keywordflow">return</span> <a class="code" href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1a1d65420e76eb63b731b1148054c40054">EC_DIR_INVALID</a>;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    }</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="ttc" id="slave_8h_html_a349fb5dcd0bac7fc2324d3da89aa4751"><div class="ttname"><a href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a></div><div class="ttdeci">#define EC_SLAVE_DBG(slave, level, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific debug messages to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00106">slave.h:106</a></div></div>
<div class="ttc" id="pdo__list_8c_html_accc8112633a4b76efe8df355d1ad0ec8"><div class="ttname"><a href="pdo__list_8c.html#accc8112633a4b76efe8df355d1ad0ec8">ec_pdo_list_copy</a></div><div class="ttdeci">int ec_pdo_list_copy(ec_pdo_list_t *pl, const ec_pdo_list_t *other)</div><div class="ttdoc">Makes a deep copy of another PDO list. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00177">pdo_list.c:177</a></div></div>
<div class="ttc" id="slave_8h_html"><div class="ttname"><a href="slave_8h.html">slave.h</a></div><div class="ttdoc">EtherCAT slave structure. </div></div>
<div class="ttc" id="pdo__list_8c_html_a30f05a34cf44b4d4f5bd47db39addb95"><div class="ttname"><a href="pdo__list_8c.html#a30f05a34cf44b4d4f5bd47db39addb95">ec_pdo_list_clear</a></div><div class="ttdeci">void ec_pdo_list_clear(ec_pdo_list_t *pl)</div><div class="ttdoc">PDO list destructor. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00061">pdo_list.c:61</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga42e7df5376954bc1cf1dde11fbf17387"><div class="ttname"><a href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a></div><div class="ttdeci">#define EC_WRITE_U8(DATA, VAL)</div><div class="ttdoc">Write an 8-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02187">ecrt.h:2187</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ggaa31bcc2beed6a1f62ec495337c239177adfee5b587c2fac3791f4b13ccd64645a"><div class="ttname"><a href="group__ApplicationInterface.html#ggaa31bcc2beed6a1f62ec495337c239177adfee5b587c2fac3791f4b13ccd64645a">EC_WD_DISABLE</a></div><div class="ttdoc">Disable the watchdog. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00433">ecrt.h:433</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ggaa31bcc2beed6a1f62ec495337c239177aee16c13a5ec3c6105a41a1d4c562e82d"><div class="ttname"><a href="group__ApplicationInterface.html#ggaa31bcc2beed6a1f62ec495337c239177aee16c13a5ec3c6105a41a1d4c562e82d">EC_WD_ENABLE</a></div><div class="ttdoc">Enable the watchdog. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00432">ecrt.h:432</a></div></div>
<div class="ttc" id="sync_8c_html_af820aa0417e581742c1ac9b65231c9da"><div class="ttname"><a href="sync_8c.html#af820aa0417e581742c1ac9b65231c9da">ec_sync_default_direction</a></div><div class="ttdeci">ec_direction_t ec_sync_default_direction(const ec_sync_t *sync)</div><div class="ttdoc">Determines the default direction from the control register. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00167">sync.c:167</a></div></div>
<div class="ttc" id="sync_8c_html_addb7fcc84fa000b0b41f4a2801977b21"><div class="ttname"><a href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a></div><div class="ttdeci">void ec_sync_page(const ec_sync_t *sync, uint8_t sync_index, uint16_t data_size, const ec_sync_config_t *sync_config, uint8_t pdo_xfer, uint8_t *data)</div><div class="ttdoc">Initializes a sync manager configuration page. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00094">sync.c:94</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="master_8h_html"><div class="ttname"><a href="master_8h.html">master.h</a></div><div class="ttdoc">EtherCAT master structure. </div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="sync_8c_html_a5cf8d891a77f09cc5dbb820b08bca55c"><div class="ttname"><a href="sync_8c.html#a5cf8d891a77f09cc5dbb820b08bca55c">ec_sync_add_pdo</a></div><div class="ttdeci">int ec_sync_add_pdo(ec_sync_t *sync, const ec_pdo_t *pdo)</div><div class="ttdoc">Adds a PDO to the list of known mapped PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00153">sync.c:153</a></div></div>
<div class="ttc" id="structec__pdo__t_html"><div class="ttname"><a href="structec__pdo__t.html">ec_pdo_t</a></div><div class="ttdoc">PDO description. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8h_source.html#l00049">pdo.h:49</a></div></div>
<div class="ttc" id="pdo__list_8c_html_a1e0dfffa35df484b25834003b447e888"><div class="ttname"><a href="pdo__list_8c.html#a1e0dfffa35df484b25834003b447e888">ec_pdo_list_add_pdo_copy</a></div><div class="ttdeci">int ec_pdo_list_add_pdo_copy(ec_pdo_list_t *pl, const ec_pdo_t *pdo)</div><div class="ttdoc">Add the copy of an existing PDO to the list. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00141">pdo_list.c:141</a></div></div>
<div class="ttc" id="structec__sync__t_html"><div class="ttname"><a href="structec__sync__t.html">ec_sync_t</a></div><div class="ttdoc">Sync manager. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00047">sync.h:47</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gace219530ddd83f5f3f54d5b329b94a3d"><div class="ttname"><a href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a></div><div class="ttdeci">#define EC_WRITE_U16(DATA, VAL)</div><div class="ttdoc">Write a 16-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02204">ecrt.h:2204</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga703c4e47384b3601e7605d6d910aaba1"><div class="ttname"><a href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a></div><div class="ttdeci">ec_direction_t</div><div class="ttdoc">Direction type for PDO assignment functions. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00417">ecrt.h:417</a></div></div>
<div class="ttc" id="structec__sync__t_html_a76825f16d6c2d649740045b5a0c96a26"><div class="ttname"><a href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">ec_sync_t::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">Slave, the sync manager belongs to. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00048">sync.h:48</a></div></div>
<div class="ttc" id="structec__sync__t_html_aede99eccf8db60056e6deebe66501365"><div class="ttname"><a href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">ec_sync_t::control_register</a></div><div class="ttdeci">uint8_t control_register</div><div class="ttdoc">Control register value. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00051">sync.h:51</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gga703c4e47384b3601e7605d6d910aaba1a6b3c6b53010076d846724fec434512e4"><div class="ttname"><a href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1a6b3c6b53010076d846724fec434512e4">EC_DIR_INPUT</a></div><div class="ttdoc">Values read by the master. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00420">ecrt.h:420</a></div></div>
<div class="ttc" id="structec__sync__config__t_html_a24246e2777a46c8aa69dcfbe6a32e4c7"><div class="ttname"><a href="structec__sync__config__t.html#a24246e2777a46c8aa69dcfbe6a32e4c7">ec_sync_config_t::dir</a></div><div class="ttdeci">ec_direction_t dir</div><div class="ttdoc">Sync manager direction. </div><div class="ttdef"><b>Definition:</b> <a href="sync__config_8h_source.html#l00047">sync_config.h:47</a></div></div>
<div class="ttc" id="sync_8c_html_ad78623bc3b479121c5fa77acacd0c823"><div class="ttname"><a href="sync_8c.html#ad78623bc3b479121c5fa77acacd0c823">ec_sync_clear</a></div><div class="ttdeci">void ec_sync_clear(ec_sync_t *sync)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00081">sync.c:81</a></div></div>
<div class="ttc" id="structec__sync__config__t_html_a83c2bcdf7c5a9e6541b5f47c13a4d46d"><div class="ttname"><a href="structec__sync__config__t.html#a83c2bcdf7c5a9e6541b5f47c13a4d46d">ec_sync_config_t::watchdog_mode</a></div><div class="ttdeci">ec_watchdog_mode_t watchdog_mode</div><div class="ttdoc">Watchdog mode. </div><div class="ttdef"><b>Definition:</b> <a href="sync__config_8h_source.html#l00048">sync_config.h:48</a></div></div>
<div class="ttc" id="structec__sync__t_html_a581dfbd7e289ab43dc3f5b7f844c4776"><div class="ttname"><a href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">ec_sync_t::enable</a></div><div class="ttdeci">uint8_t enable</div><div class="ttdoc">Enable bit. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00052">sync.h:52</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gga703c4e47384b3601e7605d6d910aaba1a1d65420e76eb63b731b1148054c40054"><div class="ttname"><a href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1a1d65420e76eb63b731b1148054c40054">EC_DIR_INVALID</a></div><div class="ttdoc">Invalid direction. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00418">ecrt.h:418</a></div></div>
<div class="ttc" id="structec__sync__config__t_html"><div class="ttname"><a href="structec__sync__config__t.html">ec_sync_config_t</a></div><div class="ttdoc">Sync manager configuration. </div><div class="ttdef"><b>Definition:</b> <a href="sync__config_8h_source.html#l00046">sync_config.h:46</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gad34ea4baad01f48e2fe114624c994ae2"><div class="ttname"><a href="group__ApplicationInterface.html#gad34ea4baad01f48e2fe114624c994ae2">EC_WRITE_BIT</a></div><div class="ttdeci">#define EC_WRITE_BIT(DATA, POS, VAL)</div><div class="ttdoc">Write a certain bit of an EtherCAT data byte. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02050">ecrt.h:2050</a></div></div>
<div class="ttc" id="sync_8h_html"><div class="ttname"><a href="sync_8h.html">sync.h</a></div><div class="ttdoc">EtherCAT sync manager. </div></div>
<div class="ttc" id="structec__sync__t_html_a96e5121c2fd258439b25d1a826ec5970"><div class="ttname"><a href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">ec_sync_t::pdos</a></div><div class="ttdeci">ec_pdo_list_t pdos</div><div class="ttdoc">Current PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00053">sync.h:53</a></div></div>
<div class="ttc" id="pdo__list_8c_html_ac6f343a6f07a1f817fc0c8820fbd5314"><div class="ttname"><a href="pdo__list_8c.html#ac6f343a6f07a1f817fc0c8820fbd5314">ec_pdo_list_init</a></div><div class="ttdeci">void ec_pdo_list_init(ec_pdo_list_t *pl)</div><div class="ttdoc">PDO list constructor. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00050">pdo_list.c:50</a></div></div>
<div class="ttc" id="structec__sync__t_html_a35017ae8615f6eee4ecb5ed044501184"><div class="ttname"><a href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">ec_sync_t::physical_start_address</a></div><div class="ttdeci">uint16_t physical_start_address</div><div class="ttdoc">Physical start address. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00049">sync.h:49</a></div></div>
<div class="ttc" id="sync_8c_html_a05bfac9d6981a210919a1bed7aa10090"><div class="ttname"><a href="sync_8c.html#a05bfac9d6981a210919a1bed7aa10090">ec_sync_init_copy</a></div><div class="ttdeci">void ec_sync_init_copy(ec_sync_t *sync, const ec_sync_t *other)</div><div class="ttdoc">Copy constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00063">sync.c:63</a></div></div>
<div class="ttc" id="structec__sync__t_html_ade13d88d878f5e87763c34b636a4c1a1"><div class="ttname"><a href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">ec_sync_t::default_length</a></div><div class="ttdeci">uint16_t default_length</div><div class="ttdoc">Data length in bytes. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00050">sync.h:50</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gga703c4e47384b3601e7605d6d910aaba1aebf26f1d5c09cf002af5b09d9cb59b78"><div class="ttname"><a href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1aebf26f1d5c09cf002af5b09d9cb59b78">EC_DIR_OUTPUT</a></div><div class="ttdoc">Values written by the master. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00419">ecrt.h:419</a></div></div>
<div class="ttc" id="sync_8c_html_ae554464367e3ca0d6c2c402ee52461de"><div class="ttname"><a href="sync_8c.html#ae554464367e3ca0d6c2c402ee52461de">ec_sync_init</a></div><div class="ttdeci">void ec_sync_init(ec_sync_t *sync, ec_slave_t *slave)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00046">sync.c:46</a></div></div>
<div class="ttc" id="pdo_8h_html"><div class="ttname"><a href="pdo_8h.html">pdo.h</a></div><div class="ttdoc">EtherCAT Process data object structure. </div></div>
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